EP3639167A4 - Verfahren und vorrichtung zur auswahl einer karte für ein bewegtes objekt, system und fahrzeug/roboter - Google Patents

Verfahren und vorrichtung zur auswahl einer karte für ein bewegtes objekt, system und fahrzeug/roboter Download PDF

Info

Publication number
EP3639167A4
EP3639167A4 EP17913234.5A EP17913234A EP3639167A4 EP 3639167 A4 EP3639167 A4 EP 3639167A4 EP 17913234 A EP17913234 A EP 17913234A EP 3639167 A4 EP3639167 A4 EP 3639167A4
Authority
EP
European Patent Office
Prior art keywords
robot
map
selecting
vehicle
methods
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP17913234.5A
Other languages
English (en)
French (fr)
Other versions
EP3639167A1 (de
Inventor
Maximilian DOEMLING
Wanli Jiang
Qianshan LI
Tao Xu
Sebastian Granzow
Jianpeng LI
Hongshan XU
Shuhan LV
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bayerische Motoren Werke AG
Original Assignee
Bayerische Motoren Werke AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bayerische Motoren Werke AG filed Critical Bayerische Motoren Werke AG
Publication of EP3639167A1 publication Critical patent/EP3639167A1/de
Publication of EP3639167A4 publication Critical patent/EP3639167A4/de
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/16—Matrix or vector computation, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mathematical Physics (AREA)
  • Mathematical Analysis (AREA)
  • Data Mining & Analysis (AREA)
  • Computational Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Electromagnetism (AREA)
  • Mathematical Optimization (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Pure & Applied Mathematics (AREA)
  • Algebra (AREA)
  • Multimedia (AREA)
  • Databases & Information Systems (AREA)
  • Software Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Computing Systems (AREA)
  • Acoustics & Sound (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
EP17913234.5A 2017-06-16 2017-06-16 Verfahren und vorrichtung zur auswahl einer karte für ein bewegtes objekt, system und fahrzeug/roboter Withdrawn EP3639167A4 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/088768 WO2018227612A1 (en) 2017-06-16 2017-06-16 Methods and apparatus for selecting a map for a moving object, system, and vehicle/robot

Publications (2)

Publication Number Publication Date
EP3639167A1 EP3639167A1 (de) 2020-04-22
EP3639167A4 true EP3639167A4 (de) 2021-02-17

Family

ID=64660286

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17913234.5A Withdrawn EP3639167A4 (de) 2017-06-16 2017-06-16 Verfahren und vorrichtung zur auswahl einer karte für ein bewegtes objekt, system und fahrzeug/roboter

Country Status (4)

Country Link
US (1) US11391590B2 (de)
EP (1) EP3639167A4 (de)
CN (1) CN110720025B (de)
WO (1) WO2018227612A1 (de)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11422259B2 (en) * 2018-06-28 2022-08-23 Zoox, Inc. Multi-resolution maps for localization
CN111813101B (zh) * 2020-06-04 2024-04-02 深圳优地科技有限公司 机器人路径规划方法、装置、终端设备及存储介质
CN116222561B (zh) * 2021-12-06 2025-12-19 追觅创新科技(苏州)有限公司 基于地图导航的地图数据处理方法、系统和自移动机器人

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140350839A1 (en) * 2013-05-23 2014-11-27 Irobot Corporation Simultaneous Localization And Mapping For A Mobile Robot

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004205261A (ja) * 2002-12-24 2004-07-22 Denso Corp ナビゲーション装置
WO2007048003A2 (en) * 2005-10-21 2007-04-26 Deere & Company Versatile robotic control module
US8140265B2 (en) * 2006-03-21 2012-03-20 Skymeter Corporation Private, auditable vehicle positioning system and on-board unit for same
KR101503903B1 (ko) * 2008-09-16 2015-03-19 삼성전자 주식회사 이동 로봇의 지도 구성 장치 및 방법
US20130060461A1 (en) * 2011-09-07 2013-03-07 INRO Technologies Limited Method and apparatus for using pre-positioned objects to localize an industrial vehicle
CN102402225B (zh) * 2011-11-23 2013-09-04 中国科学院自动化研究所 一种实现移动机器人同时定位与地图构建的方法
KR101406175B1 (ko) * 2012-10-09 2014-06-13 조선대학교산학협력단 이동로봇의 위치추정과 지도 작성 장치 및 방법
JP6415291B2 (ja) * 2014-12-09 2018-10-31 キヤノン株式会社 情報処理装置、情報処理方法、プログラム
EP3106836B1 (de) * 2015-06-16 2018-06-06 Volvo Car Corporation Einheit und verfahren zur einstellung einer strassenbegrenzung
EP3144765B1 (de) * 2015-09-18 2020-01-08 Samsung Electronics Co., Ltd. Vorrichtung zur ortung eines reinigungsroboters, reinigungsroboter und steuerungsverfahren für einen reinigungsroboter
US10545229B2 (en) * 2016-04-22 2020-01-28 Huawei Technologies Co., Ltd. Systems and methods for unified mapping of an environment

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140350839A1 (en) * 2013-05-23 2014-11-27 Irobot Corporation Simultaneous Localization And Mapping For A Mobile Robot

Also Published As

Publication number Publication date
EP3639167A1 (de) 2020-04-22
WO2018227612A1 (en) 2018-12-20
US20200116517A1 (en) 2020-04-16
CN110720025B (zh) 2023-11-10
CN110720025A (zh) 2020-01-21
US11391590B2 (en) 2022-07-19

Similar Documents

Publication Publication Date Title
EP3604064A4 (de) Verfahren und vorrichtung zur ausführung einer fahrsteuerung bei einem fahrzeug
EP3739417A4 (de) Navigationsverfahren, navigationssystem, mobiles steuerungssystem und mobiler roboter
EP3278188A4 (de) Vorrichtung, verfahren und system für ein autonomes fahrzeug
EP3151188A4 (de) Empfangsverfahren, system und vorrichtung für fahrzeuglogistik
EP3393879A4 (de) Automobilsteuerungssystem und verfahren zum betrieb davon
EP3259153A4 (de) Verfahren und steuerungssystem zum laden eines fahrzeugs
EP3156766A4 (de) Fahrspurauswahlvorrichtung, fahrzeugsteuerungssystem und fahrspurauswahlverfahren
EP3341254A4 (de) Verfahren und system für autonome fahrzeuggeschwindigkeitsbefolgung
EP3741636A4 (de) Fahrzeugsteuerungsverfahren und steuervorrichtung für ein fahrzeugsystem und fahrzeug
EP3176996A4 (de) Steuerungsverfahren für fahrzeugbetrieb sowie zugehörige vorrichtungen und system
SI3476550T1 (sl) Robotski sistem, krmilnik robota in postopek za umik robota
EP3265992A4 (de) Vorrichtung, system und verfahren zur gemeinsamen nutzung von fahrzeugen
EP3315912A4 (de) System zur bereitstellung von kandidatenrouten, fahrzeugmontierte vorrichtung und verfahren zur bereitstellung von kandidatenrouten
GB201601752D0 (en) Control system for a vehicle and method
GB2581462B (en) Device, system and method for autonomous tactical vehicle control
EP3704541A4 (de) Verfahren, system und vorrichtung für reflektiv-emissinve hybridanzeige
EP3239955A4 (de) Parkpositionsbestätigungs- und navigationsverfahren, -vorrichtung und -system
GB2558364B (en) Control system for a vehicle and method
EP3646993A4 (de) Roboter, kombinationsverfahren davon und roboterkombinationssystem
EP3092145A4 (de) Steuerungssystem und -verfahren für ein fahrzeug
SG11201809240UA (en) System and method for determining the position of a transport vehicle, and transport vehicle
GB201510275D0 (en) Method and apparatus for controlling a vehicle climate system
EP3259154A4 (de) Verfahren und steuerungssystem zum laden eines fahrzeugs
GB2558913B (en) Control system for a vehicle and method
SG10202104380VA (en) Unmanned aerial vehicle, and method for using same

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20191210

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
REG Reference to a national code

Ref country code: DE

Ref legal event code: R079

Free format text: PREVIOUS MAIN CLASS: G06F0019000000

Ipc: G01C0021200000

A4 Supplementary search report drawn up and despatched

Effective date: 20210115

RIC1 Information provided on ipc code assigned before grant

Ipc: G01C 21/20 20060101AFI20210111BHEP

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20230220

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230502

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 20230905